27403 Parallax Inc, 27403 Datasheet - Page 115
27403
Manufacturer Part Number
27403
Description
GUIDE APP ROBOTCS W/SUMOBOT V1.0
Manufacturer
Parallax Inc
Datasheet
1.27404.pdf
(266 pages)
Specifications of 27403
Accessory Type
Manual
Product
Microcontroller Accessories
Lead Free Status / RoHS Status
Contains lead / RoHS non-compliant
For Use With/related Products
SumoBot®
Lead Free Status / RoHS Status
Lead free / RoHS Compliant, Contains lead / RoHS non-compliant
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Example Program: QtiPulseTrickLeft.bs2
The QtiPulseTrickLeft.bs2 program verifies that this technique works.
carefully. Especially make sure you can match the commands that deal with P5 and P9 to
the timing diagram in Figure 3-15.
' Applied Robotics with the SumoBot - QtiPulseTrickLeft.bs2
' {$STAMP BS2}
' {$PBASIC 2.5}
qtiStateLeft
time
threshold
' Calibrate QTIs
HIGH 10
HIGH 9
PAUSE 1
RCTIME 9, 1, time
threshold = time / 4
IF threshold > 220 THEN
ELSE
ENDIF
' Main Routine
DO
LOOP
threshold = threshold - 220
threshold = 0
HIGH 9
PAUSE 1
INPUT 9
PULSOUT 6, threshold
qtiStateLeft = IN9
DEBUG HOME, ? qtiStateLeft
PAUSE 100
√
√
√
Make sure the left QTI is over the black surface in your sumo ring.
Enter, save, and run QtiPulseTrickLeft.bs2.
Verify that the Debug Terminal shows that the
when the left QTI sees black and 0 when it sees white.
VAR
VAR
VAR
Bit
Word
Word
' Target device = BS2
' Language = PBASIC 2.5
' Store left QTI state
' Store QTI decay time
' Store b/w threshold
' Turn on left QTI
' Discharge QTI capacitor
' Wait for discharge
' Vo decay time as cap charges
' Use to set threshold
' Account for code overhead
' Discharge QTI capacitor
' Wait for discharge
' Start RC decay
' Wait until threshold time
' Save state of P9
' Display state of P9
' Delay for slower PCs
qtiStateLeft
variable is 1
Examine it
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